% 测试IMU设备是否稳定，得到稳定下的误差
clear;
clc;
% 示例数据（替换为实际数据）
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];  

%初始化参数
n = size(data,1); 
dt = 0.01; % 假设时间步长为0.01秒，可根据实际情况调整

% 初始化姿态数组（单位：度）
roll_est = zeros(n, 1);
pitch_est = zeros(n, 1);
yaw_est = zeros(n, 1);

% 设置初始姿态为第一组数据的前三个值
roll_est(1) = data(1, 1);  % roll
pitch_est(1) = data(1, 2); % pitch
yaw_est(1) = data(1, 3);  % yaw

% 主循环：使用陀螺仪数据积分，并用加速度计校正
for i = 2:n
    % 当前数据
    gyro_x = data(i, 4); % 陀螺仪x轴（roll速率）
    gyro_y = data(i, 5); % 陀螺仪y轴（pitch速率）
    gyro_z = data(i, 6); % 陀螺仪z轴（yaw速率）
    acc_x = data(i, 7);  % 加速度计x轴
    acc_y = data(i, 8);  % 加速度计y轴
    acc_z = data(i, 9);  % 加速度计z轴

    % 上一次的姿态（转换为弧度）
    roll_prev = deg2rad(roll_est(i-1));
    pitch_prev = deg2rad(pitch_est(i-1));
    
    % 陀螺仪积分计算姿态变化
    roll_rate = gyro_x + gyro_y * sin(roll_prev) * tan(pitch_prev) + gyro_z * cos(roll_prev) * tan(pitch_prev);
    pitch_rate = gyro_y * cos(roll_prev) - gyro_z * sin(roll_prev);
    yaw_rate = gyro_y * sin(roll_prev) / cos(pitch_prev) + gyro_z * cos(roll_prev) / cos(pitch_prev);
    
    % 更新姿态（积分）
    roll_est(i) = roll_est(i-1) + rad2deg(roll_rate * dt);
    pitch_est(i) = pitch_est(i-1) + rad2deg(pitch_rate * dt);
    yaw_est(i) = yaw_est(i-1) + rad2deg(yaw_rate * dt);
    
    % 归一化角度到[-180, 180]
    roll_est(i) = wrapTo180(roll_est(i));
    pitch_est(i) = wrapTo180(pitch_est(i));
    yaw_est(i) = wrapTo180(yaw_est(i));
    
    % 用加速度计计算参考姿态
    roll_acc = atan2(acc_y, acc_z); % 加速度计计算的roll
    pitch_acc = atan2(-acc_x, sqrt(acc_y^2 + acc_z^2)); % 加速度计计算的pitch
    
    % 融合（简单互补滤波）
    alpha = 0.98;
    roll_est(i) = alpha * roll_est(i) + (1 - alpha) * rad2deg(roll_acc);
    pitch_est(i) = alpha * pitch_est(i) + (1 - alpha) * rad2deg(pitch_acc);
    
    % 再次归一化融合后的角度
    roll_est(i) = wrapTo180(roll_est(i));
    pitch_est(i) = wrapTo180(pitch_est(i));
end

% 角度unwrap，确保连续性
roll_est = unwrap(deg2rad(roll_est), pi); % 先转为弧度unwrap，再转回度
pitch_est = unwrap(deg2rad(pitch_est), pi);
yaw_est = unwrap(deg2rad(yaw_est), pi);
roll_est = rad2deg(roll_est);
pitch_est = rad2deg(pitch_est);
yaw_est = rad2deg(yaw_est);

% 与原始数据对比，计算最小角度差
% roll_actual = unwrap(deg2rad(data(:, 1)), pi); 
% pitch_actual = unwrap(deg2rad(data(:, 2)), pi);
% yaw_actual = unwrap(deg2rad(data(:, 3)), pi);
% roll_actual = rad2deg(roll_actual);
% pitch_actual = rad2deg(pitch_actual);
% yaw_actual = rad2deg(yaw_actual);

roll_error = minAngleDiff(roll_est, data(:,1));
pitch_error = minAngleDiff(pitch_est, data(:,2));
yaw_error = minAngleDiff(yaw_est, data(:,3));

% 绘图
figure;
subplot(3, 1, 1);
plot(1:n, data(:,1), 'b', 1:n, roll_est, 'r');
legend('实际Roll', '估计Roll');
title('Roll对比');
xlabel('样本'); ylabel('角度 (度)');

subplot(3, 1, 2);
plot(1:n, data(:,2), 'b', 1:n, pitch_est, 'r');
legend('实际Pitch', '估计Pitch');
title('Pitch对比');
xlabel('样本'); ylabel('角度 (度)');

subplot(3, 1, 3);
plot(1:n, data(:,3), 'b', 1:n, yaw_est, 'r');
legend('实际Yaw', '估计Yaw');
title('Yaw对比');
xlabel('样本'); ylabel('角度 (度)');

% 计算平均误差
mean_roll_error = mean(abs(roll_error));
mean_pitch_error = mean(abs(pitch_error));
mean_yaw_error = mean(abs(yaw_error));
fprintf('平均Roll误差: %.2f 度\n', mean_roll_error);
fprintf('平均Pitch误差: %.2f 度\n', mean_pitch_error);
fprintf('平均Yaw误差: %.2f 度\n', mean_yaw_error);

% 辅助函数：归一化角度到[-180, 180]
function ang = wrapTo180(ang)
    ang = mod(ang + 180, 360) - 180;
end

% 辅助函数：计算两个角度的最小差值
function diff = minAngleDiff(ang1, ang2)
    diff = ang1 - ang2;
    diff = mod(diff + 180, 360) - 180; % 确保差值在[-180, 180]
end